Positioning mode switching method, device, equipment and storage medium

Abstract

The present invention belongs to the technical field of vehicles, and discloses a positioning mode switching method, device, equipment and storage medium. The method includes: obtaining positioning data and distance data in a first positioning mode; calculating a distance difference according to the positioning data and the distance data to determine a distance deviation value; determining whether to switch the positioning mode according to the distance deviation value and a target deviation threshold; when it is determined to switch the positioning mode, switching the positioning mode from the first positioning mode to a second positioning mode. By the above method, it is determined whether to switch the positioning mode according to the distance deviation value and the target deviation threshold, and when it is determined to switch the positioning mode, the positioning mode is switched from the first positioning mode to the second positioning mode, which can improve the credibility of the positioning data in the first positioning mode quickly, switch the positioning mode in time when the credibility is low, ensure the accuracy of positioning during the vehicle driving process, and guarantee the driving safety of the vehicle during autonomous driving.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicles, and particularly to a positioning mode switching method, device, equipment and storage medium. Background Art

[0002] Vehicles need to be positioned in real time during driving, especially vehicles with autonomous driving functions have extremely high requirements for positioning accuracy. Therefore, in the prior art, it is necessary to detect positioning signals in a timely manner and switch the positioning mode when the positioning signals are inaccurate. However, most of the existing methods for detecting positioning signals use whether the signal strength exceeds a strength threshold within a certain duration as a judgment condition, but this method cannot meet the timeliness requirements. Or, it is adopted to obtain the vehicle switching positioning mode signal through communication between OBU and RSU, and assist in judging whether the vehicle enters a tunnel or other special sections without GPS signals through RSU and map data. However, the above method cannot be implemented in sections without RSU, and the problem of temporary poor positioning signals cannot be effectively solved. Summary of the Invention

[0003] The main purpose of the present invention is to provide a positioning mode switching method, device, equipment and storage medium, aiming to solve the technical problem of how to ensure accurate positioning during vehicle driving in the prior art.

[0004] To achieve the above purpose, the present invention provides a positioning mode switching method, and the positioning mode switching method includes:

[0005] Obtain positioning data and distance data in a first positioning mode;

[0006] Calculate a distance difference according to the positioning data and the distance data to determine a distance deviation value;

[0007] Determine whether to switch the positioning mode according to the distance deviation value and a target deviation threshold;

[0008] When it is determined to switch the positioning mode, switch the positioning mode from the first positioning mode to a second positioning mode.

[0009] Optionally, the calculating a distance difference according to the positioning data and the distance data to determine a distance deviation value includes:

[0010] Determine a first signal moment and a second signal moment according to the positioning data;

[0011] Determine the vehicle driving distance and vehicle driving data according to the first signal moment, the second signal moment and the distance data;

[0012] Calculate the distance difference based on the vehicle driving distance and the vehicle driving data to determine the distance deviation value.

[0013] Optionally, the calculating the distance difference based on the vehicle driving distance and the vehicle driving data to determine the distance deviation value includes:

[0014] Determine the segmented mileage data and the reception time corresponding to each segmented mileage data according to the vehicle driving data;

[0015] Determine multiple segmented mileage distances according to each segmented mileage data;

[0016] Determine the driving mileage value according to each segmented mileage distance and the reception time corresponding to each segmented mileage data;

[0017] Determine the distance deviation value according to the driving mileage value and the vehicle driving distance.

[0018] Optionally, the determining the driving mileage value according to each segmented mileage distance and the reception time corresponding to each segmented mileage data includes:

[0019] Determine the initial mileage time according to the first signal time and the distance data;

[0020] Perform mileage value calculation according to the initial mileage time, the first signal time, the second signal time, each segmented mileage distance, and the reception time corresponding to each segmented mileage data to determine the driving mileage value.

[0021] Optionally, before determining whether to switch the positioning mode according to the distance deviation value and the target deviation threshold, further include:

[0022] Obtain multiple target weighting values;

[0023] Determine multiple jump differences according to the distance data and the positioning data;

[0024] Perform threshold calculation according to each target weighting value and each jump difference to determine the target deviation threshold.

[0025] Optionally, the determining multiple jump differences according to the distance data and the positioning data includes:

[0026] Obtain multiple groups of positioning jump time points according to the positioning data;

[0027] Determine the mileage distance value corresponding to each positioning jump time point according to the distance data;

[0028] Determine multiple jump differences according to the mileage distance values corresponding to each positioning jump time point.

[0029] Optionally, determining whether to perform positioning mode switching according to the distance deviation value and the target deviation threshold includes:

[0030] Comparing the distance deviation value with the target deviation threshold to obtain a comparison result;

[0031] Determining whether to perform positioning mode switching according to the comparison result;

[0032] Before determining to perform positioning mode switching and switching the positioning mode from the first positioning mode to the second positioning mode, it further includes:

[0033] When the comparison result is that the distance deviation value is greater than the target deviation threshold, determining to perform positioning mode switching.

[0034] In addition, to achieve the above object, the present invention also provides a positioning mode switching device, which includes:

[0035] An acquisition module, configured to acquire positioning data and distance data in the first positioning mode;

[0036] A calculation module, configured to calculate a distance difference according to the positioning data and the distance data to determine a distance deviation value;

[0037] A determination module, configured to determine whether to perform positioning mode switching according to the distance deviation value and the target deviation threshold;

[0038] A switching module, configured to switch the positioning mode from the first positioning mode to the second positioning mode when it is determined to perform positioning mode switching.

[0039] In addition, to achieve the above object, the present invention also provides a positioning mode switching device, which includes: a memory, a processor, and a positioning mode switching program stored on the memory and executable on the processor, and the positioning mode switching program is configured to implement the positioning mode switching method as described above.

[0040] In addition, to achieve the above object, the present invention also provides a storage medium, on which a positioning mode switching program is stored, and when the positioning mode switching program is executed by a processor, it implements the positioning mode switching method as described above.

[0041] The present invention obtains positioning data and distance data in a first positioning mode; calculates a distance difference based on the positioning data and the distance data to determine a distance deviation value; determines whether to switch the positioning mode according to the distance deviation value and a target deviation threshold; and when it is determined to switch the positioning mode, switches the positioning mode from the first positioning mode to the second positioning mode. By the above method, the distance deviation value is calculated based on the positioning data and the distance data, and whether to switch the positioning mode is determined according to the distance deviation value and the target deviation threshold. When it is determined to switch the positioning mode, the positioning mode is switched from the first positioning mode to the second positioning mode, which can improve the credibility of the positioning data in the first positioning mode quickly, switch the positioning mode in time when the credibility is low, ensure the accuracy of positioning during the vehicle driving process, and guarantee the driving safety of the vehicle during autonomous driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 FIG. is a schematic structural diagram of a positioning mode switching device in a hardware operating environment related to the solution of an embodiment of the present invention;

[0043] Figure 2 FIG. is a schematic flowchart of a first embodiment of a positioning mode switching method of the present invention;

[0044] Figure 3 FIG. is a schematic flowchart of a second embodiment of a positioning mode switching method of the present invention;

[0045] Figure 4 FIG. is a schematic diagram of interpolation calculation in an embodiment of a positioning mode switching method of the present invention;

[0046] Figure 5 FIG. is a structural block diagram of a first embodiment of a positioning mode switching device of the present invention.

[0047] The realization, functional features and advantages of the object of the present invention will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0048] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0049] Refer to Figure 1 , Figure 1 FIG. is a schematic structural diagram of a positioning mode switching device in a hardware operating environment related to the solution of an embodiment of the present invention.

[0050] As Figure 1As shown in the figure, the positioning mode switching device may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen and an input unit such as a keyboard. Optionally, the user interface 1003 may further include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a Wireless-Fidelity (Wi-Fi) interface). The memory 1005 may be a high-speed Random Access Memory (RAM) or a stable Non-Volatile Memory (NVM), such as a disk memory. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0051] Those skilled in the art can understand that Figure 1 the structure shown in the figure does not constitute a limitation on the positioning mode switching device, and it may include more or fewer components than shown in the figure, or combine some components, or have different component arrangements.

[0052] As Figure 1 shown, the memory 1005, as a storage medium, may include an operating system, a network communication module, a user interface module, and a positioning mode switching program.

[0053] In Figure 1 the positioning mode switching device shown in the figure, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the positioning mode switching device of the present invention may be arranged in the positioning mode switching device. The positioning mode switching device calls the positioning mode switching program stored in the memory 1005 through the processor 1001 and executes the positioning mode switching method provided by the embodiments of the present invention.

[0054] The embodiments of the present invention provide a positioning mode switching method. Referring to Figure 2 , Figure 2 it is a schematic flowchart of the first embodiment of a positioning mode switching method of the present invention.

[0055] The positioning mode switching method includes the following steps:

[0056] Step S10: Obtain positioning data and distance data in the first positioning mode.

[0057] It should be noted that the execution entity of this embodiment is the vehicle controller, which may include the central computing unit of the vehicle. By obtaining the positioning data and distance data in the first positioning mode, calculating the distance difference based on the positioning data and distance data, determining the distance deviation value, and determining whether to switch the positioning mode according to the distance deviation value and the target deviation threshold. When it is determined to switch the positioning mode, the positioning mode is switched from the first positioning mode to the second positioning mode.

[0058] It can be understood that the first positioning mode refers to the positioning method using a GNSS (Global Navigation Satellite System) signal positioning device. Obtain the positioning data generated by the GNSS signal positioning device and the distance data generated by the wheel speed odometer in the first positioning mode.

[0059] Step S20: Calculate the distance difference based on the positioning data and the distance data to determine the distance deviation value.

[0060] It should be noted that by calculating the difference in distance values within a certain period of time based on the positioning data and distance data, determining the difference between the mileage value corresponding to the positioning data and the mileage value corresponding to the distance data, and the difference between the mileage value corresponding to the positioning data and the mileage value corresponding to the distance data within a certain period of time is the distance deviation value.

[0061] Step S30: Determine whether to switch the positioning mode according to the distance deviation value and the target deviation threshold.

[0062] It should be noted that the target deviation threshold refers to the critical value of the distance deviation determined according to the distance data and the positioning data. Compare the distance deviation value with the target deviation threshold to determine whether to switch the positioning mode.

[0063] It can be understood that in order to obtain an accurate target deviation threshold, further, before determining whether to switch the positioning mode according to the distance deviation value and the target deviation threshold, it further includes: obtaining a plurality of target weighting values; determining a plurality of jump differences according to the distance data and the positioning data; calculating the threshold according to each target weighting value and each jump difference to determine the target deviation threshold.

[0064] In a specific implementation, the target weighting value refers to the weighting value preset for each jump difference. Generally, 5 jump differences can be determined based on distance data and positioning data, so there are 5 target weighting values. The selection rule of the target weighting value is as follows: During the driving process of the vehicle, since the vehicle speed changes continuously, the target weighting value closer to the current time point is most in line with the current trend and has the highest target weighting value, which decreases in sequence according to time. In the stationary state of the vehicle, each target weighting value is equal. However, in the case of errors, each target weighting value does not remain unchanged. In this case, to eliminate the single deviation, each target weighting value is equal and their sum is 1. For example, there are 5 weighting values, namely a, b, c, d, and e, and at this time a = b = c = d = e = 0.2.

[0065] It should be noted that multiple mileage jump differences within multiple preset time periods can be determined based on distance data and positioning data, and the mileage jump difference is the jump difference. By calculating the threshold according to the target weighting value and each jump difference, the target deviation threshold can be determined. For example, currently there are 5 jump differences, which are Δk 1 、Δk 2 、Δk 3 、Δk 4 、Δk 5 , and 5 target weighting values a = b = c = d = e = 0.2, then the target deviation threshold is Δk = aΔk 1 +bΔk 2 +cΔk 3 +dΔk 4 +eΔk 5 .

[0066] It can be understood that in order to determine the accurate jump difference based on positioning data and distance data, further, the determining of multiple jump differences according to the distance data and the positioning data includes: obtaining multiple groups of positioning jump time points according to the positioning data; determining the mileage distance values corresponding to each positioning jump time point according to the distance data; and determining multiple jump differences according to the mileage distance values corresponding to each positioning jump time point.

[0067] In a specific implementation, multiple sets of positioning jump time points are obtained from the positioning data. The mileage distance values corresponding to each positioning jump time point are determined based on the distance data. Multiple jump differences are determined based on the mileage distance values corresponding to each positioning jump time point. The specific process is as follows: In the positioning data, multiple sets of positioning jump data are randomly selected. Each set of positioning jump data corresponds to a set of positioning jump time points. The mileage distance values corresponding to each set of positioning jump time points are obtained from the distance data. For example, a positioning signal is obtained at 11:00:00 in the positioning data, and the positioning signal jumps at 11:00:20. Then 11:00:00 and 11:00:20 are the first set of positioning jump time points. The mileage data at 11:00:00 is X kilometers and the mileage data at 11:00:20 is Y kilometers. Then the jump difference corresponding to the first set of positioning jump time points is Y - X. The second set of positioning jump time points is 11:00:30 and 11:00:50. Then the mileage data at 11:00:30 is M kilometers and the mileage data at 11:00:50 is N kilometers. Then the jump difference corresponding to the second set of positioning jump time points is N - M.

[0068] It should be noted that, in order to make an accurate judgment based on the target deviation threshold and the distance deviation value, further, determining whether to switch the positioning mode according to the distance deviation value and the target deviation threshold includes: comparing the distance deviation value with the target deviation threshold to obtain a comparison result; determining whether to switch the positioning mode according to the comparison result; before switching the positioning mode from the first positioning mode to the second positioning mode when it is determined to switch the positioning mode, further includes: when the comparison result is that the distance deviation value is greater than the target deviation threshold, determining to switch the positioning mode.

[0069] It can be understood that by comparing the distance deviation value with the target deviation threshold to obtain a comparison result, and determining whether to switch the positioning mode according to the comparison result. When the comparison result is that the distance deviation value is greater than the target deviation threshold, it indicates that the positioning signal in the first positioning mode is not credible. At this time, it is determined that the positioning mode needs to be switched, and the positioning mode is switched from the first positioning mode to the second positioning mode. When the comparison result is that the distance deviation value is not greater than the target deviation threshold, it indicates that the positioning signal in the first positioning mode is credible. At this time, the first positioning mode is maintained for positioning.

[0070] Step S40: When it is determined to switch the positioning mode, switch the positioning mode from the first positioning mode to the second positioning mode.

[0071] It should be noted that the second positioning mode refers to the positioning method using a sensor fusion positioning system. When it is determined to switch the positioning mode, the controller sends a switching instruction to switch the positioning mode from the first positioning mode to the second positioning mode.

[0072] In this embodiment, positioning data and distance data in the first positioning mode are obtained; a distance difference calculation is performed based on the positioning data and the distance data to determine a distance deviation value; whether to switch the positioning mode is determined based on the distance deviation value and a target deviation threshold; and when it is determined to switch the positioning mode, the positioning mode is switched from the first positioning mode to the second positioning mode. In the above manner, the distance deviation value is calculated based on the positioning data and the distance data, and whether to switch the positioning mode is determined based on the distance deviation value and the target deviation threshold. When it is determined to switch the positioning mode, the positioning mode is switched from the first positioning mode to the second positioning mode, which can improve the credibility of the positioning data in the first positioning mode quickly, switch the positioning mode in a timely manner when the credibility is low, ensure the accuracy of positioning during vehicle driving, and guarantee the driving safety of the vehicle during autonomous driving.

[0073] Reference Figure 3 , Figure 3 is a schematic flowchart of the second embodiment of a positioning mode switching method according to the present invention.

[0074] Based on the above first embodiment, in the positioning mode switching method of this embodiment, step S20 includes:

[0075] Step S21: Determine a first signal moment and a second signal moment according to the positioning data.

[0076] It should be noted that the first signal moment refers to the moment t 1 ' when the positioning signal was received penultimately in the positioning data, and the second signal moment refers to the moment t' when the positioning signal was received last (i.e., the positioning signal received this time) in the obtained positioning data. 2 .

[0077] Step S22: Determine the vehicle driving distance and vehicle driving data according to the first signal moment, the second signal moment, and the distance data.

[0078] It should be noted that after determining the first signal moment and the second signal moment, the vehicle driving distance D is determined according to the positioning signals at the first signal moment and the second signal moment in the positioning data, and the vehicle driving data refers to the distance data received during the period from the first signal moment to the second signal moment in the distance data.

[0079] Step S23: Perform a distance difference calculation according to the vehicle driving distance and the vehicle driving data to determine a distance deviation value.

[0080] It should be noted that the interpolation method is used to calculate the vehicle driving data, so as to obtain the driving mileage value between the first signal time and the second signal time. The distance difference value ΔX is calculated according to the driving mileage value S and the vehicle driving distance D.

[0081] It can be understood that in order to obtain an accurate distance deviation value, further, the distance difference calculation is performed according to the vehicle driving distance and the vehicle driving data to determine the distance deviation value, including: determining the segmented mileage data and the reception time corresponding to each segmented mileage data according to the vehicle driving data; determining a plurality of segmented mileage distances according to each segmented mileage data; determining the driving mileage value according to each segmented mileage distance and the reception time corresponding to each segmented mileage data; determining the distance deviation value according to the driving mileage value and the vehicle driving distance.

[0082] In a specific implementation, according to the vehicle driving data, it is determined that a total of n sets of mileage data sent by the wheel speed odometer are received between the first signal time and the second signal time, and the reception time corresponding to each set of mileage data is t n , and each set of mileage data is the segmented mileage data. The segmented mileage distance corresponding to each segmented mileage data can be determined according to each segmented mileage data, the driving mileage value between the first signal time and the second signal time can be determined according to each segmented mileage distance and the reception time corresponding to each segmented mileage data, and the distance deviation value is determined according to the driving mileage value and the vehicle driving distance.

[0083] It should be noted that in order to obtain an accurate driving mileage value according to each segmented mileage distance and the reception time corresponding to each segmented mileage data, further, the determining the driving mileage value according to each segmented mileage distance and the reception time corresponding to each segmented mileage data includes: determining the initial mileage time according to the first signal time and the distance data; performing mileage value calculation according to the initial mileage time, the first signal time, the second signal time, each segmented mileage distance, and the reception time corresponding to each segmented mileage data to determine the driving mileage value.

[0084] It can be understood that the specific process of determining the initial mileage time according to the first signal time and the distance data is as Figure 4 shown. The mileage data S 1 obtained most recently before the first signal time t 0 ' is determined in the distance data, and the corresponding reception time is the initial mileage time t 0 . The driving mileage value is determined by performing mileage value calculation according to the initial mileage time, the first signal time, the second signal time, each segmented mileage distance, and the reception time corresponding to each segmented mileage data where the segmented mileage distance between the (n - 1)th segmented mileage data and the nth segmented mileage data is ΔS n= S n -S n-1 , n ≥ 1, the reception time corresponding to each segmented mileage data is t 1 ~t n .

[0085] In this embodiment, the first signal time and the second signal time are determined according to the positioning data; the vehicle driving distance and the vehicle driving data are determined according to the first signal time, the second signal time and the distance data; the distance difference is calculated according to the vehicle driving distance and the vehicle driving data to determine the distance deviation value.

[0086] In addition, referring to Figure 5 , an embodiment of the present invention further provides a positioning mode switching device, and the positioning mode switching device includes:

[0087] An acquisition module 10, configured to acquire positioning data and distance data in a first positioning mode.

[0088] A calculation module 20, configured to calculate a distance difference according to the positioning data and the distance data to determine a distance deviation value.

[0089] A determination module 30, configured to determine whether to perform a positioning mode switch according to the distance deviation value and a target deviation threshold.

[0090] A switching module 40, configured to switch the positioning mode from the first positioning mode to the second positioning mode when it is determined to perform a positioning mode switch.

[0091] In this embodiment, the positioning data and the distance data in the first positioning mode are acquired; the distance difference is calculated according to the positioning data and the distance data to determine the distance deviation value; whether to perform a positioning mode switch is determined according to the distance deviation value and the target deviation threshold; when it is determined to perform a positioning mode switch, the positioning mode is switched from the first positioning mode to the second positioning mode. In the above manner, the distance deviation value is calculated according to the positioning data and the distance data, and whether to perform a positioning mode switch is determined according to the distance deviation value and the target deviation threshold. When it is determined to perform a positioning mode switch, the positioning mode is switched from the first positioning mode to the second positioning mode, which can realize the credibility of the positioning data in the first positioning mode quickly, switch the positioning mode in time when the credibility is low, ensure the accuracy of the positioning during the vehicle driving process, and guarantee the driving safety of the vehicle during automatic driving.

[0092] In one embodiment, the calculation module 20 is further configured to determine the first signal time and the second signal time according to the positioning data;

[0093] determine the vehicle driving distance and the vehicle driving data according to the first signal time, the second signal time and the distance data;

[0094] Calculate a distance difference based on the vehicle travel distance and the vehicle travel data to determine a distance deviation value.

[0095] In one embodiment, the calculation module 20 is further configured to determine segmented mileage data and the reception time corresponding to each segmented mileage data according to the vehicle travel data;

[0096] Determine a plurality of segmented mileage distances according to each segmented mileage data;

[0097] Determine a travel mileage value according to each segmented mileage distance and the reception time corresponding to each segmented mileage data;

[0098] Determine a distance deviation value according to the travel mileage value and the vehicle travel distance.

[0099] In one embodiment, the calculation module 20 is further configured to determine an initial mileage time according to the first signal time and the distance data;

[0100] Perform a mileage value calculation according to the initial mileage time, the first signal time, the second signal time, each segmented mileage distance, and the reception time corresponding to each segmented mileage data to determine a travel mileage value.

[0101] In one embodiment, the determination module 30 is further configured to obtain a plurality of target weighting values;

[0102] Determine a plurality of jump differences according to the distance data and the positioning data;

[0103] Perform a threshold calculation according to each target weighting value and each jump difference to determine a target deviation threshold.

[0104] In one embodiment, the determination module 30 is further configured to obtain multiple groups of positioning jump time points according to the positioning data;

[0105] Determine the mileage distance value corresponding to each positioning jump time point according to the distance data;

[0106] Determine a plurality of jump differences according to the mileage distance values corresponding to each positioning jump time point.

[0107] In one embodiment, the determination module 30 is further configured to compare the distance deviation value with the target deviation threshold to obtain a comparison result;

[0108] Determine whether to perform a positioning mode switch according to the comparison result;

[0109] Before determining to perform a positioning mode switch and switching the positioning mode from the first positioning mode to the second positioning mode, it further includes:

[0110] When the comparison result shows that the distance deviation value is greater than the target deviation threshold, it is determined to perform a positioning mode switch.

[0111] Since this device adopts all the technical solutions of the above-mentioned all embodiments, it has at least all the beneficial effects brought by the technical solutions of the above embodiments, which will not be elaborated one by one here.

[0112] In addition, an embodiment of the present invention further provides a storage medium, on which a positioning mode switching program is stored. When the positioning mode switching program is executed by a processor, the steps of the positioning mode switching method described above are implemented.

[0113] Since this storage medium adopts all the technical solutions of the above-mentioned all embodiments, it has at least all the beneficial effects brought by the technical solutions of the above embodiments, which will not be elaborated one by one here.

[0114] It should be noted that the above-described work process is only illustrative and does not limit the protection scope of the present invention. In actual applications, those skilled in the art can select some or all of them according to actual needs to achieve the purpose of the solution of this embodiment, and no limitation is made here.

[0115] In addition, for the technical details not described in detail in this embodiment, reference can be made to the positioning mode switching method provided in any embodiment of the present invention, which will not be elaborated here.

[0116] In addition, it should be noted that in this article, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or further includes elements inherent to such process, method, article or system. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of another identical element in the process, method, article or system including that element.

[0117] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0118] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-described embodiment methods can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as Read Only Memory (ROM) / RAM, magnetic disk, optical disk), and includes several instructions for causing a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in various embodiments of the present invention.

[0119] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present invention.

Claims

1. A method for switching positioning modes, characterized in that, the method for switching positioning modes includes: obtaining positioning data and distance data in a first positioning mode; calculating a distance difference based on the positioning data and the distance data to determine a distance deviation value; determining whether to switch the positioning mode according to the distance deviation value and a target deviation threshold; when it is determined to switch the positioning mode, switching the positioning mode from the first positioning mode to a second positioning mode; wherein, before determining whether to switch the positioning mode according to the distance deviation value and the target deviation threshold, it further includes: obtaining a plurality of target weighting values, where the target weighting values are preset weighting values corresponding to respective jump differences, and the sum of all the target weighting values is equal to 1; determining a plurality of jump differences based on the distance data and the positioning data; calculating a threshold according to each target weighting value and each jump difference to determine the target deviation threshold; wherein, determining a plurality of jump differences based on the distance data and the positioning data includes: obtaining multiple groups of positioning jump time points according to the positioning data; determining the mileage distance value corresponding to each positioning jump time point according to the distance data; determining a plurality of jump differences according to the mileage distance values corresponding to each positioning jump time point.

2. The method for switching positioning modes according to claim 1, characterized in that, calculating a distance difference based on the positioning data and the distance data to determine a distance deviation value includes: determining a first signal time and a second signal time according to the positioning data; determining the vehicle travel distance and vehicle travel data according to the first signal time, the second signal time and the distance data; calculating a distance difference based on the vehicle travel distance and the vehicle travel data to determine the distance deviation value.

3. The method for switching positioning modes according to claim 2, characterized in that, calculating a distance difference based on the vehicle travel distance and the vehicle travel data to determine a distance deviation value includes: determining segmented mileage data and the reception time corresponding to each segmented mileage data according to the vehicle travel data; determining a plurality of segmented mileage distances according to each segmented mileage data; determining a travel mileage value according to each segmented mileage distance and the reception time corresponding to each segmented mileage data; determining the distance deviation value according to the travel mileage value and the vehicle travel distance.

4. The method for switching positioning modes according to claim 3, characterized in that, determining a travel mileage value according to each segmented mileage distance and the reception time corresponding to each segmented mileage data includes: determining an initial mileage time according to the first signal time and the distance data; calculating a mileage value according to the initial mileage time, the first signal time, the second signal time, each segmented mileage distance and the reception time corresponding to each segmented mileage data to determine the travel mileage value.

5. The method for switching positioning modes according to claim 1, characterized in that, determining whether to switch the positioning mode according to the distance deviation value and the target deviation threshold includes: comparing the distance deviation value with the target deviation threshold to obtain a comparison result; Determine whether to perform positioning mode switching according to the comparison result; Before switching the positioning mode from the first positioning mode to the second positioning mode when it is determined to perform positioning mode switching, it further includes: When the comparison result is that the distance deviation value is greater than the target deviation threshold, determine to perform positioning mode switching.

6. A positioning mode switching device, Characterized in that, The positioning mode switching device includes: An acquisition module, configured to acquire positioning data and distance data in the first positioning mode; A calculation module, configured to calculate a distance difference according to the positioning data and the distance data to determine a distance deviation value; A determination module, configured to determine whether to perform positioning mode switching according to the distance deviation value and a target deviation threshold; A switching module, configured to switch the positioning mode from the first positioning mode to the second positioning mode when it is determined to perform positioning mode switching; The determination module is further configured to acquire a plurality of target weighting values, where the target weighting values are the weighting values corresponding to the preset jump differences, and each target weighting value is equal and the sum of them is 1; determine a plurality of jump differences according to the distance data and the positioning data; perform threshold calculation according to each target weighting value and each jump difference to determine the target deviation threshold; The determination module is further configured to acquire multiple groups of positioning jump time points according to the positioning data; determine the mileage distance value corresponding to each positioning jump time point according to the distance data; determine a plurality of jump differences according to the mileage distance value corresponding to each positioning jump time point.

7. A positioning mode switching device, Characterized in that, The device includes: a memory, a processor, and a positioning mode switching program stored on the memory and executable on the processor, and the positioning mode switching program is configured to implement the positioning mode switching method according to any one of claims 1 to 5.

8. A storage medium, Characterized in that, A positioning mode switching program is stored on the storage medium, and when the positioning mode switching program is executed by a processor, it implements the positioning mode switching method according to any one of claims 1 to 5.

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